A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Excavator obstacle avoidance trajectory planning method, device, equipment and medium
The invention discloses an excavator obstacle avoidance trajectory planning method, device and equipment and a medium, and relates to the field of excavator automatic control. The method includes acquiring a path control point. And acquiring a node vector according to the path control point and the curve times. And calculating a B-spline primary function according to the weight factor and the node vector. And according to the path control point, the weight factor and the B-spline primary function, fitting a mining track route. And moving the bucket according to the route, and judging whether the bucket moves to an end point and encounters an obstacle. And when moving to an end point, ending the movement. And judging whether the hydraulic oil pressure exceeds a preset value or not when encountering an obstacle. And when the hydraulic oil pressure exceeds a preset value, the included angle # imgabs0 # between the bucket direction and the resistance direction is recognized. Otherwise, the bucket continues to be moved. And when # imgabs 1 #, returning to the previous control point, and reducing the weight factor of the control point closest to the obstacle. And when # imgabs2, returning to the previous control point, and increasing the weight factor of the control point closest to the obstacle. After the factors are adjusted, a new excavation track route is fitted, and then the bucket is controlled to move.
一种挖掘机避障轨迹规划方法、装置、设备和介质，涉及挖掘机自动控制领域。方法包含：获取路径控制点。根据路径控制点和曲线次数，获取节点矢量。根据权重因子和节点矢量，计算B样条基函数。根据路径控制点、权重因子和B样条基函数，拟合挖掘轨迹路线。根据路线移动铲斗，并判断是否移动到终点和碰到障碍物。移动到终点时，结束移动。碰到障碍物时，判断液压油压是否超过预设值。液压油压超过预设值时，识别铲斗方向和阻力方向的夹角#imgabs0#。否则，继续移动铲斗。#imgabs1#时，返回上一个控制点，减小障碍物最近的控制点的权重因子。#imgabs2#时，返回上一个控制点，增大障碍物最近的控制点的权重因子。因子调整后，拟合新挖掘轨迹路线再控制铲斗移动。
Excavator obstacle avoidance trajectory planning method, device, equipment and medium
The invention discloses an excavator obstacle avoidance trajectory planning method, device and equipment and a medium, and relates to the field of excavator automatic control. The method includes acquiring a path control point. And acquiring a node vector according to the path control point and the curve times. And calculating a B-spline primary function according to the weight factor and the node vector. And according to the path control point, the weight factor and the B-spline primary function, fitting a mining track route. And moving the bucket according to the route, and judging whether the bucket moves to an end point and encounters an obstacle. And when moving to an end point, ending the movement. And judging whether the hydraulic oil pressure exceeds a preset value or not when encountering an obstacle. And when the hydraulic oil pressure exceeds a preset value, the included angle # imgabs0 # between the bucket direction and the resistance direction is recognized. Otherwise, the bucket continues to be moved. And when # imgabs 1 #, returning to the previous control point, and reducing the weight factor of the control point closest to the obstacle. And when # imgabs2, returning to the previous control point, and increasing the weight factor of the control point closest to the obstacle. After the factors are adjusted, a new excavation track route is fitted, and then the bucket is controlled to move.
一种挖掘机避障轨迹规划方法、装置、设备和介质，涉及挖掘机自动控制领域。方法包含：获取路径控制点。根据路径控制点和曲线次数，获取节点矢量。根据权重因子和节点矢量，计算B样条基函数。根据路径控制点、权重因子和B样条基函数，拟合挖掘轨迹路线。根据路线移动铲斗，并判断是否移动到终点和碰到障碍物。移动到终点时，结束移动。碰到障碍物时，判断液压油压是否超过预设值。液压油压超过预设值时，识别铲斗方向和阻力方向的夹角#imgabs0#。否则，继续移动铲斗。#imgabs1#时，返回上一个控制点，减小障碍物最近的控制点的权重因子。#imgabs2#时，返回上一个控制点，增大障碍物最近的控制点的权重因子。因子调整后，拟合新挖掘轨迹路线再控制铲斗移动。
Excavator obstacle avoidance trajectory planning method, device, equipment and medium
一种挖掘机避障轨迹规划方法、装置、设备和介质
LIN TIANLIANG (author) / TU ZIXUAN (author) / REN HAOLING (author) / MIAO CHENG (author) / YAO YU (author) / CHEN QIHUAI (author) / LI ZHONGSHEN (author) / CHEN ZHIGUI (author)
2024-08-30
Patent
Electronic Resource
Chinese
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